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  Feedback/Feedforward Schemes for Motion Control of the CyberCarpet

De Luca, A., Mattone, R., & Robuffo Giordano, P. (2006). Feedback/Feedforward Schemes for Motion Control of the CyberCarpet. IFAC Proceedings Volumes, 39(15), 400-406.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-D043-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0004-99BF-9
Genre: Conference Paper

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 Creators:
De Luca, A, Author
Mattone, R, Author
Robuffo Giordano, P1, Author              
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: The CyberCarpet is an actuated platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. The platform has two actuating devices (linear and angular) and the motion control problem is dual to that of nonholonomic wheeled mobile robots. The main control objective is to keep the walker close to the platform center. Simple but global kinematic control schemes are presented, addressing in particular the handling of singularity issues. The feedback stabilizing part, which is based only on the user’s pose information, is complemented by a feedforward term derived from on a walker’s velocity observer. Numerical and graphical simulation results are presented.

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 Dates: 2006-09
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: BibTex Citekey: 5564
DOI: 10.3182/20060906-3-IT-2910.00068
 Degree: -

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Title: 8th International IFAC Symposium on Robot Control (SYROCO 2006)
Place of Event: Bologna, Italy
Start-/End Date: 2006-09-06 - 2006-09-08

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Title: IFAC Proceedings Volumes
Source Genre: Journal
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Pages: - Volume / Issue: 39 (15) Sequence Number: - Start / End Page: 400 - 406 Identifier: ISSN: 1474-6670